Abstract: In order to enable industrial robots to acquire target 3D information in a non-contact working environment, a manipulator binocular distance measurement system based on machine vision was designed. The system uses Matlab and OpenCV to calibrate the CMOS binocular industrial camera and perform stereo calibration according to the internal and external parameters of the camera, and then calculate the depth information in the corresponding environment by combining the SGBM stereo matching algorithm of binocular vision. Finally, the 2D image and depth information are used to assist the robot arm control center in obtaining the 3D information of the target workpiece and making the corresponding command operation. The experimental analysis indicates that the ranging system has short measurement time, good robustness and high measurement accuracy.